Device-free wireless indoor localization is an essential technology for the Internet of Things (IoT), and fingerprint-based methods are widely used. A common challenge to fingerprint-based methods is data collection and labeling. This paper proposes a few-shot transfer learning system that uses only a small amount of labeled data from the current environment and reuses a large amount of existing labeled data previously collected in other environments, thereby significantly reducing the data collection and labeling cost for localization in each new environment. The core method lies in graph neural network (GNN) based few-shot transfer learning and its modifications. Experimental results conducted on real-world environments show that the proposed system achieves comparable performance to a convolutional neural network (CNN) model, with 40 times fewer labeled data.
Deep learning-based RF fingerprinting has recently been recognized as a potential solution for enabling newly emerging wireless network applications, such as spectrum access policy enforcement, automated network device authentication, and unauthorized network access monitoring and control. Real, comprehensive RF datasets are now needed more than ever to enable the study, assessment, and validation of newly developed RF fingerprinting approaches. In this paper, we present and release a large-scale RF fingerprinting dataset, collected from 25 different LoRa-enabled IoT transmitting devices using…
Many applications require accurate indoor localization. Fingerprint-based localization methods propose a solution to this problem, but rely on a radio map that is effort-intensive to acquire. We automate the radio map acquisition phase using a software-defined radio (SDR) and a wheeled robot. Furthermore, we open-source a radio map acquired with our automated tool for a 3GPP Long-Term Evolution (LTE) wireless link. To the best of our knowledge, this is the first publicly available radio map containing channel state information (CSI). Finally, we describe first localization experiments on this …
Outdoor positioning systems based on the Global Navigation Satellite System have several shortcomings that have deemed their use for indoor positioning impractical. Location fingerprinting, which utilizes machine learning, has emerged as a viable method and solution for indoor positioning due to its simple concept and accurate performance. In the past, shallow learning algorithms were traditionally used in location fingerprinting. Recently, the research community started utilizing deep learning methods for fingerprinting after witnessing the great success and superiority these methods have ove…
Research Center for Information Technology Innovation, Academia Sinica（中央研究院资讯科技创新研究中心）
Device-free wireless indoor localization is a key enabling technology for the Internet of Things (IoT). Fingerprint-based indoor localization techniques are a commonly used solution. This paper proposes a semi-supervised, generative adversarial network (GAN)-based device-free fingerprinting indoor localization system. The proposed system uses a small amount of labeled data and a large amount of unlabeled data (i.e., semi-supervised), thus considerably reducing the expensive data labeling effort. Experimental results show that, as compared to the state-of-the-art supervised scheme, the proposed…
Iowa State University（爱荷华州立大学）；University of Washington（华盛顿大学）
Reliable detection of human occupancy in indoor environments is critical for various energy efficiency, security, and safety applications. We consider this challenge of occupancy detection using extremely low-quality, privacy-preserving images from low power image sensors. We propose a combined few shot learning and clustering algorithm to address this challenge that has very low commissioning and maintenance cost. While the few shot learning concept enables us to commission our system with a few labeled examples, the clustering step serves the purpose of online adaptation to changing imaging …
Universitat Jaume I（海梅一世大学）；Tampere University（坦佩雷大学）；Universidade do Minho（米尼奥大学）
Wearable and IoT devices requiring positioning and localisation services grow in number exponentially every year. This rapid growth also produces millions of data entries that need to be pre-processed prior to being used in any indoor positioning system to ensure the data quality and provide a high Quality of Service (QoS) to the end-user. In this paper, we offer a novel and straightforward data cleansing algorithm for WLAN fingerprinting radio maps. This algorithm is based on the correlation among fingerprints using the Received Signal Strength (RSS) values and the Access Points (APs)'s ident…
Among many techniques for indoor localization, fingerprinting has been shown to provide a higher accuracy compared to the alternative techniques. Fingerprinting techniques require an initial calibration phase during which site surveyors visit virtually every location in the area of interest to manually collect the fingerprint data. However, this process is labour intensive, tedious, and needs to be repeated with any change in the environment. In this work, we propose a technique for enhancing cellular-based indoor localization fingerprinting systems by automatically increasing the spatial dens…
WiFi-based indoor localization has received extensive attentions from both academia and industry. However, the overhead of constructing and maintaining the WiFi fingerprint map remains a bottleneck for the wide-deployment of WiFi-based indoor localization systems. Recently, robots are adopted as the professional surveyor to fingerprint the environment autonomously. But the time and energy cost still limit the coverage of the robot surveyor, thus reduce its scalability. To fill this need, we design an AutonomousWiFi Fingerprinting system, called AuF, which autonomously constructs the fingerprin…
With expeditious development of wireless communications, location fingerprinting (LF) has nurtured considerable indoor location based services (ILBSs) in the field of Internet of Things (IoT). For most pattern-matching based LF solutions, previous works either appeal to the simple received signal strength (RSS), which suffers from dramatic performance degradation due to sophisticated environmental dynamics, or rely on the fine-grained physical layer channel state information (CSI), whose intricate structure leads to an increased computational complexity. Meanwhile, the harsh indoor environment…
Fingerprinting-based approaches are particularly suitable for deploying indoor positioning systems for pedestrians with minimal infrastructure costs. The accuracy of the method, however, strongly depends on the quality of collected labeled fingerprints within the calibration phase, which is a tedious process when done manually in a static fashion. We present VI-SLAM2tag, a system for auto-labeling of dynamically collected fingerprints using the visual-inertial simultaneous localization and mapping (VI-SLAM) module of ARCore. ARCore occasionally updates its internal coordinate system. Mapping t…
In this paper, we present a new location fingerprinting database comprised of Wi-Fi received signal strength (RSS) and geomagnetic field intensity measured with multiple devices at a multi-floor building in Xi'an Jiatong-Liverpool University, Suzhou, China. We also provide preliminary results of localization and trajectory estimation based on convolutional neural network (CNN) and long short-term memory (LSTM) network with this database. For localization, we map RSS data for a reference point to an image-like, two-dimensional array and then apply CNN which is popular in image and video analysi…
Online few-shot learning describes a setting where models are trained and evaluated on a stream of data while learning emerging classes. While prior work in this setting has achieved very promising performance on instance classification when learning from data-streams composed of a single indoor environment, we propose to extend this setting to consider object classification on a series of several indoor environments, which is likely to occur in applications such as robotics. Importantly, our setting, which we refer to as online few-shot continual learning, injects the well-studied issue of ca…
Hybrid Quantum Neural Network based Indoor User Localization using Cloud Quantum Computing
Indian Institute of Technology Delhi（印度理工学院德里分校）；University of Melbourne（墨尔本大学）；Centre for Applied Research in Electronics (CARE)（应用电子研究中心）；Bharti School of Telecommunication Technology and Management（巴尔蒂电信技术与管理学院）
Channel state information (CSI) based fingerprinting for WIFI indoor localization has attracted lots of attention very recently.The frequency diverse and temporally stable CSI better represents the location dependent channel characteristics than the coarsereceived signal strength (RSS). However, the acquisition of CSI requires the cooperation of access points (APs) and involves only dataframes, which imposes restrictions on real-world deployment. In this paper, we present CRISLoc, the first CSI fingerprinting basedlocalization prototype system using ubiquitous smartphones. CRISLoc operates in …
Fraunhofer Institute for Integrated Circuits IIS（弗劳恩霍夫集成电路研究所IIS）；Friedrich-Alexander-Universität Erlangen-Nürnberg（弗里德里希-亚历山大-埃尔朗根-纽伦堡大学）
Fingerprinting-based positioning significantly improves the indoor localization performance in non-line-of-sight-dominated areas. However, its deployment and maintenance is cost-intensive as it needs ground-truth reference systems for both the initial training and the adaption to environmental changes. In contrast, channel charting (CC) works without explicit reference information and only requires the spatial correlations of channel state information (CSI). While CC has shown promising results in modelling the geometry of the radio environment, a deeper insight into CC for localization using …
With the growing integration of location based services (LBS) such as GPS in mobile devices, indoor position systems (IPS) have become an important role for research. There are several IPS methods such as AOA, TOA, TDOA, which use trilateration for indoor location estimation but are generally based on line-of-sight. Other methods rely on classification such as fingerprinting which uses WLAN indoor signals. This paper re-examines the classical WLAN fingerprinting accuracy which uses received signal strength (RSS) measurements by introducing channel estimates for improvements in the classificati…
Fine-grained indoor localization has attracted attention recently because of the rapidly growing demand for indoor location-based services (ILBS). Specifically, massive (large-scale) multiple-input and multiple-output (MIMO) systems have received increasing attention due to high angular resolution. This paper presents an indoor localization testbed based on a massive MIMO orthogonal frequency-division multiplexing (OFDM) system, which supports physical-layer channel measurements. Instead of exploiting channel state information (CSI) directly for localization, we focus on positioning from the p…
Localization of wireless transmitters based on channel state information (CSI) fingerprinting finds widespread use in indoor as well as outdoor scenarios. Fingerprinting localization first builds a database containing CSI with measured location information. One then searches for the most similar CSI in this database to approximate the position of wireless transmitters. In this paper, we investigate the efficacy of locality-sensitive hashing (LSH) to reduce the complexity of the nearest neighbor-search (NNS) required by conventional fingerprinting localization systems. More specifically, we pro…
Smartphones together with RSSI fingerprinting serve as an efficient approach for delivering a low-cost and high-accuracy indoor localization solution. However, a few critical challenges have prevented the wide-spread proliferation of this technology in the public domain. One such critical challenge is device heterogeneity, i.e., the variation in the RSSI signal characteristics captured across different smartphone devices. In the real-world, the smartphones or IoT devices used to capture RSSI fingerprints typically vary across users of an indoor localization service. Conventional indoor localiz…
Jožef Stefan Institute（约瑟夫·斯特凡研究所）；University of Ljubljana（卢布尔雅那大学）
Location based services, already popular with end users, are now inevitably becoming part of new wireless infrastructures and emerging business processes. The increasingly popular Deep Learning (DL) artificial intelligence methods perform very well in wireless fingerprinting localization based on extensive indoor radio measurement data. However, with the increasing complexity these methods become computationally very intensive and energy hungry, both for their training and subsequent operation. Considering only mobile users, estimated to exceed 7.4billion by the end of 2025, and assuming that …
University of Toronto（多伦多大学）；Vector Institute（向量研究所）；Google Research（谷歌研究院）；University of Colorado, Boulder（科罗拉多大学博尔德分校）
We aim to bridge the gap between typical human and machine-learning environments by extending the standard framework of few-shot learning to an online, continual setting. In this setting, episodes do not have separate training and testing phases, and instead models are evaluated online while learning novel classes. As in the real world, where the presence of spatiotemporal context helps us retrieve learned skills in the past, our online few-shot learning setting also features an underlying context that changes throughout time. Object classes are correlated within a context and inferring the co…
Indoor localization services are a crucial aspect for the realization of smart cyber-physical systems within cities of the future. Such services are poised to reinvent the process of navigation and tracking of people and assets in a variety of indoor and subterranean environments. The growing ownership of computationally capable smartphones has laid the foundations of portable fingerprinting-based indoor localization through deep learning. However, as the demand for accurate localization increases, the computational complexity of the associated deep learning models increases as well. We presen…
Riemann Laboratory（黎曼实验室）；Noah’s Ark Laboratory（诺亚方舟实验室）；Laboratories, Huawei（华为2012实验室）；University of Cambridge（剑桥大学）
In indoor positioning, signal fluctuation is highly location-dependent. However, signal uncertainty is one critical yet commonly overlooked dimension of the radio signal to be fingerprinted. This paper reviews the commonly used Gaussian Processes (GP) for probabilistic positioning and points out the pitfall of using GP to model signal fingerprint uncertainty. This paper also proposes Deep Gaussian Processes (DGP) as a more informative alternative to address the issue. How DGP better measures uncertainty in signal fingerprinting is evaluated via simulated and realistically collected datasets.
Modern indoor localization techniques are essential to overcome the weak GPS coverage in indoor environments. Recently, considerable progress has been made in Channel State Information (CSI) based indoor localization with signal fingerprints. However, CSI signal patterns can be complicated in the large and highly dynamic indoor spaces with complex interiors, thus a solution for solving this issue is urgently needed to expand the applications of CSI to a broader indoor space. In this paper, we propose an end-to-end solution including data collection, pattern clustering, denoising, calibration a…
SALC: Skeleton-Assisted Learning-Based Clustering for Time-Varying Indoor Localization
National Yang Ming Chiao Tung University（国立阳明交通大学）；University of California at Berkeley（加州大学伯克利分校）；California PATH, Institute of Transportation Studies（加州交通研究所加州PATH项目）
Target localization is essential for emergency dispatching situations. Maximum likelihood estimation (MLE) methods are widely used to estimate the target position based on the received signal strength measurements. However, the performance of MLE solvers is significantly affected by the initialization (i.e., initial guess of the solution or solution search space). To address this, a previous study proposed the semidefinite programming (SDP)-based MLE initialization. However, the performance of the SDP-based initialization technique is largely affected by the shadowing variance and geometric di…
The location fingerprinting method, which typically utilizes supervised learning, has been widely adopted as a viable solution for the indoor positioning problem. Many indoor positioning datasets are imbalanced. Models trained on imbalanced datasets may exhibit poor performance on the minority class(es). This problem, also known as the "curse of imbalanced data," becomes more evident when class distributions are highly imbalanced. Motivated by the recent advances in deep generative modeling, this paper proposes using Variational Autoencoders and Conditional Variational Autoencoders as oversamp…
Geneva School of Business Administration, HES-SO Geneva（日内瓦工商管理学院，HES-SO日内瓦）
Fingerprinting techniques, which are a common method for indoor localization, have been recently applied with success into outdoor settings. Particularly, the communication signals of Low Power Wide Area Networks (LPWAN) such as Sigfox, have been used for localization. In this rather recent field of study, not many publicly available datasets, which would facilitate the consistent comparison of different positioning systems, exist so far. In the current study, a published dataset of RSSI measurements on a Sigfox network deployed in Antwerp, Belgium is used to analyse the appropriate selection …
Inferring the location of a mobile device in an indoor setting is an open problem of utmost significance. A leading approach that does not require the deployment of expensive infrastructure is fingerprinting, where a classifier is trained to predict the location of a device based on its captured signal. The main caveat of this approach is that acquiring a sufficiently large and accurate training set may be prohibitively expensive. Here, we propose a weakly supervised method that only requires the location of a small number of devices. The localization is done by matching a low-dimensional spec…
Reliable Wireless Indoor Localization via Cross-Validated Prediction-Powered Calibration
School of Electrical Engineering, Korea Advanced Institute of Science and Technology（韩国科学技术院电子工程学院）；King’s Communications, Learning & Information Processing (KCLIP) Lab, Centre for Intelligent Information Processing Systems (CIIPS), Department of Engineering, King’s College London（伦敦国王学院信息与通信实验室，智能信息处理系统中心，工程系）；Institute for Intelligent Networked Systems, Northeastern University London（伦敦东北大学智能网络系统研究所）
Recently, location-based services (LBS) have steered attention to indoor positioning systems (IPS). WLAN-based IPSs relying on received signal strength (RSS) measurements such as fingerprinting are gaining popularity due to proven high accuracy of their results. Typically, sets of RSS measurements at selected locations from several WLAN access points (APs) are used to calibrate the system. Retrieval of such measurements from WLAN cards are commonly at one-Hz rate. Such measurement collection is needed for offline radio-map surveying stage which aligns fingerprints to locations, and for online …
This paper considers indoor localization using multi-modal wireless signals including Wi-Fi, inertial measurement unit (IMU), and ultra-wideband (UWB). By formulating the localization as a multi-modal sequence regression problem, a multi-stream recurrent fusion method is proposed to combine the current hidden state of each modality in the context of recurrent neural networks while accounting for the modality uncertainty which is directly learned from its own immediate past states. The proposed method was evaluated on the large-scale SPAWC2021 multi-modal localization dataset and compared with …
The widespread mobile devices facilitated the emergence of many new applications and services. Among them are location-based services (LBS) that provide services based on user's location. Several techniques have been presented to enable LBS even in indoor environments where Global Positioning System (GPS) has low localization accuracy. These methods use some environment measurements (like Channel State Information (CSI) or Received Signal Strength (RSS)) for user localization. In this paper, we will use CSI and a novel deep learning algorithm to design a robust and efficient system for indoor …
University of Victoria（维多利亚大学）；Fortinet Canada Inc.（Fortinet加拿大公司）
This paper proposes recurrent neuron networks (RNNs) for a fingerprinting indoor localization using WiFi. Instead of locating user's position one at a time as in the cases of conventional algorithms, our RNN solution aims at trajectory positioning and takes into account the relation among the received signal strength indicator (RSSI) measurements in a trajectory. Furthermore, a weighted average filter is proposed for both input RSSI data and sequential output locations to enhance the accuracy among the temporal fluctuations of RSSI. The results using different types of RNN including vanilla RN…
Indoor localization systems are most commonly based on Received Signal Strength Indicator (RSSI) measurements of either WiFi or Bluetooth-Low-Energy (BLE) beacons. In such systems, the two most common techniques are trilateration and fingerprinting, with the latter providing higher accuracy. In the fingerprinting technique, Deep Learning (DL) algorithms are often used to predict the location of the receiver based on the RSSI measurements of multiple beacons received at the receiver. In this paper, we address two practical issues with applying Deep Learning to wireless localization -- transfer …
Accurate indoor crowd counting (ICC) is a key enabler to many smart home/office applications. In this paper, we propose a Domain-Agnostic and Sample-Efficient wireless indoor crowd Counting (DASECount) framework that suffices to attain robust cross-domain detection accuracy given very limited data samples in new domains. DASECount leverages the wisdom of few-shot learning (FSL) paradigm consisting of two major stages: source domain meta training and target domain meta testing. Specifically, in the meta-training stage, we design and train two separate convolutional neural network (CNN) modules …
Radio Foundation Models: Pre-training Transformers for 5G-based Indoor Localization
Fraunhofer Institute for Integrated Circuits (IIS)（弗劳恩霍夫集成电路研究所）；Faculty of Engineering, Friedrich-Alexander-Universität Erlangen-Nürnberg（弗里德里希-亚历山大-埃尔兰根-纽伦堡大学工程学院）
We propose an indoor localization algorithm for visible light systems by considering effects of non-line-of-sight (NLOS) propagation. The proposed algorithm, named database assisted nonlinear least squares (DA-NLS), utilizes ideas from both the classical NLS algorithm and the fingerprinting algorithm to achieve accurate and robust localization performance in NLOS environments. In particular, a database is used to learn NLOS effects, and then an NLS algorithm is employed to estimate the position. The performance of the proposed algorithm is compared against that of the fingerprinting and NLS al…
The localization speed and accuracy in the indoor scenario can greatly impact the Quality of Experience of the user. While many individual machine learning models can achieve comparable positioning performance, their prediction mechanisms offer different complexity to the system. In this work, we propose a fingerprinting positioning method for multi-building and multi-floor deployments, composed of a cascade of three models for building classification, floor classification, and 2D localization regression. We conduct an exhaustive search for the optimally performing one in each step of the casc…
Due to the growing area of ubiquitous mobile applications, indoor localization of smartphones has become an interesting research topic. Most of the current indoor localization systems rely on intensive site survey to achieve high accuracy. In this work, we propose an efficient smartphones indoor localization system that is able to reduce the site survey effort while still achieving high localization accuracy. Our system is built by fusing a variety of signals, such as Wi-Fi received signal strength indicator, magnetic field and floor plan information in an enhanced particle filter. To achieve …
The scale of wireless technologies penetration in our daily lives, primarily triggered by the Internet-of-things (IoT)-based smart cities, is beaconing the possibilities of novel localization and tracking techniques. Recently, low-power wide-area network (LPWAN) technologies have emerged as a solution to offer scalable wireless connectivity for smart city applications. LoRa is one such technology that provides energy efficiency and wide-area coverage. This article explores the use of intelligent machine learning techniques, such as support vector machines, spline models, decision trees, and en…
With the unprecedented demand for location-based services in indoor scenarios, wireless indoor localization has become essential for mobile users. While GPS is not available at indoor spaces, WiFi RSS fingerprinting has become popular with its ubiquitous accessibility. However, it is challenging to achieve robust and efficient indoor localization with two major challenges. First, the localization accuracy can be degraded by the random signal fluctuations, which would influence conventional localization algorithms that simply learn handcrafted features from raw fingerprint data. Second, mobile …
University of Melbourne（墨尔本大学）；China University of Geosciences（中国地质大学）；National Engineering Research Center for Geographic Information System（国家地理信息系统工程技术研究中心）
Fingerprinting is a popular indoor localization technique since it can utilize existing infrastructures (e.g., access points). However, its site survey process is a labor-intensive and time-consuming task, which limits the application of such systems in practice. In this paper, motivated by the availability of advanced sensing capabilities in smartphones, we propose a fast and reliable fingerprint collection method to reduce the time and labor required for site survey. The proposed method uses a landmark graph-based method to automatically associate the collected fingerprints, which does not r…
This paper proposes a soft range limited K nearest neighbours (SRL-KNN) localization fingerprinting algorithm. The conventional KNN determines the neighbours of a user by calculating and ranking the fingerprint distance measured at the unknown user location and the reference locations in the database. Different from that method, SRL-KNN scales the fingerprint distance by a range factor related to the physical distance between the user's previous position and the reference location in the database to reduce the spatial ambiguity in localization. Although utilizing the prior locations, SRL-KNN d…
